CN115687541A

CN115687541A - Map, map generation method and device

Info

Publication number: CN115687541A
Application number: CN202110825100.8A
Authority: CN
Inventors: 费雯凯; 刘建琴; 伍勇
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2021-07-21
Filing date: 2021-07-21
Publication date: 2023-02-03
Also published as: WO2023000968A1; EP4357935A1; US20240167840A1

Abstract

The application discloses a map, a map generation method and a map generation device, wherein the method comprises the following steps: first information is generated, the first information is used for indicating that a first event in a first tile is associated with a second tile, the first event is a dynamic event in a map, and the first tile and the second tile store the first information for two different tiles in the map. By implementing the method and the device, the quick index of the event in the map and the quick index of the map tile associated with the event can be realized.

Description

Map, map generation method and device

Technical Field

The application relates to the field of intelligent driving and the field of maps, in particular to a map and a map generation method and device.

Background

The map can assist the vehicle in automatic driving, and the map comprises static information and dynamic information, wherein the static information comprises road network structure data (such as lanes, roads and the like), road traffic facility data (such as traffic identifications and road side facilities) and the like, the dynamic information mainly comprises temporary dynamic events which can change along with time, such as traffic accident events, traffic jam events, road icing events and the like, and the dynamic events have correlation, such as the traffic accident events can aggravate the jam degree of the traffic jam events. For another example, congestion on road a may result in congestion on road B that is in communication with road a.

Since dynamic events change with time and frequently, the dynamic information in the map needs to be updated in real time, but because the data volume in the map is large, the network transmission speed and the network traffic are greatly burdened by a high updating frequency.

Disclosure of Invention

The application discloses a map, a map generation method and a map generation device, which can realize quick indexing of events in the map and quick indexing of map tiles associated with the events.

In a first aspect, the present application provides a map generation method, including: generating first information, wherein the first information is used for indicating that a first event in a first tile is associated with a second tile, the first event is a dynamic event in a map, and the first tile and the second tile are two different tiles in the map; the first information is stored.

Among these, a tile can be understood as: the map within a certain range is cut into rectangular grid pictures with a plurality of rows and columns according to a certain size and format and different map resolutions, and the rectangular grid pictures after being cut are called tiles (tiles). And the higher the map resolution, meaning the more number of cuts, the greater the number of tiles that make up the map, and the higher the rank of the tiles. When the cutting mode is cross cutting, the tiles of a certain level are composed of 4 tiles which are correspondingly higher by one level.

According to the method, the map information containing the incidence relation between the event in the map and other tiles in the map is generated, the event in the map and the tiles in the map associated with the event can be quickly positioned based on the map information, the change of the event can be quickly responded, the updating efficiency of the map is improved, and the accuracy of the driving decision is improved.

Optionally, the first event is associated with the second tile as: the change in the first event has an effect on the dynamic event in the second tile; the geographic coverage of the second tile comprises the geographic coverage of the first tile; or the geographic coverage of the first tile includes the geographic coverage of the second tile.

By implementing the implementation manner, the sizes of the geographic coverage areas of the associated tiles may be the same or different, and therefore, the identifier of the map tile where the event is located may be uniquely determined based on the size of the geographic area of the event, thereby effectively simplifying the storage structure of the information related to the event and saving the storage space.

For example, the geographic scope of a weather-type event is generally larger than the geographic scope of a traffic accident event, and thus, the size of the geographic coverage of the tile on which the weather-type event is located is generally larger than the size of the geographic coverage of the tile on which the traffic accident event is located.

Optionally, when the geographic coverage of the first tile includes the geographic coverage of the second tile, the first tile may be referred to as a parent tile of the second tile and the second tile may be referred to as a child tile of the first tile.

Optionally, the first tile and the second tile are tiles of the same level, i.e. the size of the geographical coverage of the first tile is the same as the size of the geographical coverage of the second tile.

Optionally, the first information is stored, specifically: the first information is stored in a data structure in the map that describes the first tile.

Optionally, the first information is stored, specifically: the first information is stored in a data structure that is jointly indexed by an identification of the first tile and an identification of the second tile.

Optionally, the first information includes information indicating an identity of the first event and information indicating an identity of the second tile.

Optionally, the first information further includes information indicating an identification of a second event in the second tile, the second event being affected by a change in the first event.

Wherein the influence of the second event by the change of the first event may be: the first event is the cause of the occurrence of the second event, or the first event may aggravate or diminish the extent of the second event; alternatively, the first event and the second event may occur concomitantly.

Optionally, the method further comprises: acquiring second information, wherein the second information is used for indicating the current state of the first event; determining that the first event has changed based on the second information; determining that first description information of a second event in the map needs to be updated according to the first information; and updating the first description information according to the second information.

By implementing the implementation mode, when the event in a certain tile is detected to be changed, based on the first information, the quick indexing of the cross-region tile event with the correlation influence can be realized, and the searching efficiency of the event and the linkage updating efficiency among the events are improved.

Optionally, the method further comprises: acquiring third information, wherein the third information is used for indicating the current state of the first event; determining that the first event has changed based on the third information; determining that second description information of the second tile in the map needs to be updated according to the first information; and updating the second description information according to the third information.

By implementing the implementation manner, when the event in a certain tile is detected to be changed, the identification of the tile associated with the event can be quickly indexed based on the first information, and the updating efficiency of the tile in the map is improved.

Optionally, it is determined that the first event changes, specifically: determining that the first event disappears; determining that the first event is a new event; alternatively, it is determined that the degree of change of the first event is greater than a threshold.

Optionally, the degree of change of the first event is a change value of the geographical range of the first event at the current time compared with the geographical range of the first event at the historical time and/or a change value of the attribute data of the first event at the current time compared with the attribute data of the first event at the historical time.

Optionally, the method further comprises updating the first information when: the first event disappears; a first event is changed; or the degree to which the first event changes is greater than a preset threshold.

By implementing the above manner, when it is detected that the first event satisfies any one of the disappearance of the event, the change of the event, and the degree of change of the event being greater than the preset threshold, the updating of the first information can realize the linkage updating of the event associated with the event and the linkage updating of the tile associated with the event, thereby improving the updating efficiency.

In a second aspect, the present application provides a map generating apparatus, comprising: a generating unit, configured to generate first information, where the first information is used to indicate that a first event in a first tile is associated with a second tile, the first event is a dynamic event in a map, and the first tile and the second tile are two different tiles in the map; the storage unit is used for storing first information.

Optionally, the first information includes information indicating an identifier of the first event and information indicating an identifier of the second tile;

Optionally, the apparatus further comprises: an acquisition unit configured to acquire second information indicating a current state of the first event; a judging unit configured to determine that the first event has changed based on the second information; the judging unit is further used for determining that first description information of the second event in the map needs to be updated according to the first information; and the updating unit is used for updating the first description information according to the second information.

Optionally, the apparatus further comprises: an acquisition unit configured to acquire third information indicating a current state of the first event; a judging unit configured to determine that the first event has changed based on the third information; the judging unit is further used for determining that second description information of the second tile in the map needs to be updated according to the first information; and the updating unit is used for updating the second description information according to the third information.

Optionally, the updating unit is further configured to update the first information when: the first event disappears; a first event is changed; or the first event is changed to a degree greater than a preset threshold.

Optionally, the first information is stored, specifically: the first information is stored in a data structure that is jointly indexed by the identification of the first tile and the identification of the second tile.

In a third aspect, the present application provides a map comprising map information indicating that a first event in a first tile is associated with a second tile, the first event being a dynamic event in the map, the first tile and the second tile being two different tiles in the map.

Optionally, the first event is associated with the second tile as: the change in the first event has an effect on the dynamic event in the second tile; the geographic coverage of the second tile comprises the first tile geographic coverage; or the geographic coverage of the first tile includes the geographic coverage of the second tile.

Optionally, the map information further comprises information indicating an identification of the first event, and information indicating an identification of the second tile.

Optionally, the map information further comprises information indicating an identification of a second event in the second tile, the second event being affected by a change in the first event.

In a fourth aspect, the present application provides a map generating apparatus comprising a processor and a memory, wherein the memory is configured to store program instructions; the processor invokes program instructions in the memory to perform the first aspect or the method of any possible implementation of the first aspect. In general, the map is generated by a server, and the map generating device may be a map server, or may be a component or a chip in the map server. In addition, the map may also be generated by a road side device, a vehicle or a mobile terminal, and the map generating device may also be the road side device, the vehicle or the mobile terminal, or a component or a chip of the road side device, the vehicle or the mobile terminal.

In a fifth aspect, the present application provides a computer-readable storage medium storing program code for execution by an apparatus, the program code comprising instructions for performing the method of the first aspect or any possible implementation manner of the first aspect.

In a sixth aspect, the present application provides a computer-readable storage medium for storing a map, the map including map information for indicating that a first event in a first tile is associated with a second tile, the first event being a dynamic event in the map, the first tile and the second tile being two different tiles in the map.

In a seventh aspect, the present application provides a computer program product which, when executed by a processor, implements the method of the first aspect or any of the possible embodiments of the first aspect. The computer program product, which may for example be a software installation package, may be downloaded and executed on a processor to implement the method of the first aspect or any of the possible embodiments of the first aspect, in case it needs to be provided using any of the possible designs of the first aspect.

Drawings

FIG. 1 is a diagram illustrating a system architecture according to an embodiment of the present disclosure;

FIG. 2A is a diagram illustrating an event description provided in an embodiment of the present application;

FIG. 2B is a diagram illustrating description information of another event provided by an embodiment of the present application;

FIG. 3 is a framework diagram of cross-tile event management provided by an embodiment of the present application;

FIG. 4 is a schematic diagram illustrating tree representation of correlation information between tiles according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a parameter matrix of correlation information between tiles according to an embodiment of the present application;

FIG. 6 is a diagram illustrating association information between tiles according to an embodiment of the present application;

FIG. 7 is a flow chart of a map updating method provided by an embodiment of the present application;

fig. 8 is a schematic view of an application scenario provided in an embodiment of the present application;

FIG. 9 is a flow chart of yet another map updating method provided by an embodiment of the present application;

FIG. 10 is a diagram of a map generation method provided in an embodiment of the present application;

FIG. 11 is a functional block diagram of an apparatus according to the present embodiment of the present application;

fig. 12 is a schematic structural diagram of another computing device provided in this embodiment of the present application.

Detailed Description

The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms "first", "second", and the like in the description and the claims in the embodiments of the present application are used for distinguishing different descriptive objects, not for limiting the order between a plurality of descriptive objects, not for limiting the number of descriptive objects, and not for distinguishing different physical objects. For example, "first information" does not necessarily precede "second information"; the "first information" may be one piece of information or may be a plurality of pieces of information; in reality, the "first information" and the "second information" may be the same information.

The map comprises static information and dynamic information, wherein the static information is generally fixed, has small change and has a longer updating period; and the general state of the dynamic information is relatively fast to change, and the updating frequency is high.

The static information may specifically include road network structure data, road traffic facility data (e.g., traffic signs, road side facilities), and the like. The road network structure data can be divided into a region level, a road level and a lane level, wherein each region has a unique region ID, which can also be called a geographical region ID, and a general tile ID. Each zone includes a plurality of roads, each road having a unique road ID, each road including a plurality of lanes, each lane having a unique lane ID. In addition, there are road topological connection relations between regions, between roads and lanes and between lanes. It should be noted that the areas, roads and lanes may be referred to as map elements in the high-precision map.

The dynamic information specifically includes temporary dynamic events, such as road construction events, road overhaul events, snow storm cold events, rain storm events, traffic accident events, traffic congestion events, temporary speed limit events, lane topology events, and icing events. And there is a correlation between some dynamic events, for example, an icing event at a certain location causes a traffic accident event at the location, the traffic accident event at the certain location may aggravate the congestion degree of the traffic congestion event at the location, and the like.

When the dynamic event changes, the map needs to be updated synchronously in time to ensure the accuracy of the information provided by the map, and the dynamic information in the map needs to be updated in real time due to the fast change of the state of the dynamic event. However, the amount of data in the map is large, and the higher update frequency increases the burden of network transmission and the consumption of network traffic.

In view of the above problems, an embodiment of the present application provides a map generation method, where map tiles associated with events are determined based on an association relationship between the events, and thus when a changed event is detected, the map tiles associated with the event can quickly update corresponding tiles in the map and update other events associated with the changed event in the tiles in a linkage manner, so as to effectively reduce the pressure of network transmission, and also improve the update efficiency of dynamic events in the map, so that dynamic information provided by the map is accurate and reliable.

The technical solution in the present application will be described below with reference to the accompanying drawings.

Referring to fig. 1, fig. 1 is a system architecture diagram. The system is used for generating a map, and the map comprises tile event index information which is used for indicating mapping relations between events in the map and tiles in the map. In some possible embodiments, the map further includes description information of each event in the map and an association relationship between events. As shown in fig. 1, the system includes at least a data source device and a computing device, wherein the data source device and the computing device can be connected and communicate in a wireless manner.

The data source device is used for providing basic data containing the event for the computing device, and the computing device obtains the tile where the event is located according to the basic data of the event and determines the tiles where other events related to the event are located, so that tile index information is generated. In some possible embodiments, the computing device may also obtain event basis information from the basis data, where the event basis information is used to describe the state of each event in the map. In some possible embodiments, when the computing device detects that a certain event has changed based on real-time data provided by the data source device, the description information of the event affected by the event and the related information of the tile associated with the event may be updated according to the current state of the event. It should be noted that the map may be a high-precision map or other types of maps including areas, roads, and lanes, and the embodiments of the present application are not limited in particular.

The data source device includes, but is not limited to, a terminal, a Road surface monitoring device, a Road Side device, and the like, where the Road Side device is used to obtain roads, traffic information, and the like in a wide geographic range, and the Road Side device may include a Road Side Unit (RSU), a Multi-Access Edge Computing (MEC), a sensor, and the like, for example, the Road Side device may be an RSU, MEC, or a sensor, or a system composed of an RSU and an MEC, or a system composed of an RSU and a sensor, or a system composed of an RSU, an MEC, and a sensor; the road surface monitoring device can be used for collecting road information and road surface traffic information, and can be a camera, a road surface water accumulation detector, a laser radar, a millimeter wave radar and the like; the terminal can acquire information such as roads and traffic conditions through a sensor of the terminal, and the terminal can be other sensors or devices which can communicate with the computing device, such as a vehicle, an On Board Unit (OBU), an intelligent wearable device (e.g., a sports bracelet, a watch, and the like), a portable mobile device (e.g., a mobile phone, a tablet, and the like), or a component and a chip of the portable mobile device, and the embodiment of the application is not particularly limited. In some possible embodiments, the data source device may also be a device for providing traffic condition data by a traffic management department, or the like.

The map may be generated by a computing device, which may be a computing-enabled device, such as: a computer, a server, a component or chip in a server, multi-Access Edge Computing (MEC), etc. It should be noted that the computing device may be deployed in a cloud environment or in an edge environment, and the embodiment of the present application is not particularly limited. In some possible embodiments, the map may be generated by a component or chip of a roadside device, vehicle, or mobile terminal.

It should be noted that the communication system shown in fig. 1 may be a third Generation Partnership project (3 rd Generation Partnership project,3 GPP) communication system, such as a Long Term Evolution (LTE) system, a fifth Generation (5th Generation, 5g) mobile communication system, a New Radio (NR) system, or a non-3 GPP communication system, and the present application is not limited specifically.

It should be noted that fig. 1 is only an exemplary architecture diagram, but does not limit the number of network elements included in the communication system shown in fig. 1. Although not shown in fig. 1, fig. 1 may comprise further functional entities in addition to the functional entities shown in fig. 1. In addition, the method provided in the embodiment of the present application may be applied to the communication system shown in fig. 1, and certainly, the method provided in the embodiment of the present application may also be applied to other communication systems, which is not limited in this embodiment of the present application.

In the embodiment of the application, the event refers to an event which temporarily occurs and can be continued for a certain time period to influence the driving decision. In addition, the event also has the characteristic that the state changes dynamically with time. For example, the event may be a traffic accident event, a traffic congestion event, a road overhaul event, an ice road event, a road collapse event, a no pass event, a temporary speed limit event, a temporary lane topology connection event, a snow storm cold event, a rain storm event, and the like.

Specifically, the event basic information includes description information of a plurality of events in a map, and the description information of each event may be represented in a form shown in fig. 2A, where an event i is any one event in the map, the description information of the event i includes an event identification ID of the event (i.e., the event ID of the event i is i), location data, a timestamp, attribute data, and the like, where the event ID uniquely represents the event, the location data of the event is used to indicate a location of the event in the map, the location data of the event specifically includes a tile ID where the event is located, a bound map element ID, and a geographic range of the event, the timestamp of the event refers to an occurrence time of the event, and the attribute data of the event is used to indicate a characteristic of the event. It should be noted that fig. 2A is only an example of indicating the state of the event i at a certain timestamp.

In the present embodiment, the different events have different properties, for example, the properties of an ice road event include ice thickness, ice friction coefficient, etc.; the attributes of the traffic accident event comprise an accident type, a motion state parameter of a vehicle when the accident occurs, a vehicle model of the accident and the like; attributes of the rainstorm event include rainfall, early warning level, wind speed, wind direction and the like; attributes of traffic congestion events include: congestion length, congestion time period type, congestion degree, and the like, which are not specifically limited in the embodiments of the present application.

In the embodiments of the present application, the geographic range of the event has different representation modes. In one embodiment, the geographical range of the event is represented by a regular shape, represented by two parameters relative to a reference point (e.g., the start of a lane or road), e.g., (120m, 140m) representing a cut-off from 120 meters from the reference point to 140 meters from the reference point, or by geographical coordinates of two end points. In another implementation, when the geographic scope of the event appears as an irregular shape, it may be represented by the geographic coordinates of a plurality of corner points of the irregular shape.

In this embodiment of the present application, the map element IDs bound to the event may be lane IDs, road IDs, and the like, and it should be noted that, in this embodiment of the present application, the number of the map element IDs bound to the event is not specifically limited, and the number of the map element IDs bound to the event is related to the geographic range occupied by the event.

In a specific implementation, since the event is dynamically changed, the description information of the event may also be used to indicate the state of the event under multiple timestamps, and the multiple timestamps are stored according to the order of the timestamps. Referring to fig. 2B, the description information of the event i can also be represented in the form shown in fig. 2B, that is, the description information of the event i includes an event ID of the event i, location data and attribute data of the event i at least one historical time (e.g., timestamp 1, timestamp 2, etc.), for example, it can be seen from fig. 2B that the location data of the event i at the timestamp 1 includes a geographical range, a tile ID and a map element ID, and the attribute data of the event i at the timestamp 1 includes attribute 1 and attribute 2.

It is to be appreciated that the event ID of the same event at different timestamps is not changed, but the same event may have different states at different timestamps, e.g., at least one of the location data and the attribute data of the event may change over time.

In the embodiment of the application, the description information of each event in the map can be stored according to time periods based on requirements, for example, the period of each day or hour is convenient for positioning and searching the description information of the event.

In the embodiment of the present application, the description information of each event in the map may also be stored according to the tiles in the map, for example, by taking the tile in the map as a unit, only the description information of the event under the tile is stored in the storage structure corresponding to each tile. Therefore, the method is beneficial to management of data and selective loading of the data, for example, the method can assist the vehicle to preferentially load the data under the tile where the vehicle is located and the data under the tile where the planned path is located in the driving process, and the loading speed and the query speed of the relevant data of the events in the map are improved.

For example, tile 1 is a tile at a certain level in the map, and cross cutting tile 1 may further generate 4 tiles at a level higher than the level of tile 1, identified as 1-00, 1-01, 1-10, and 1-11, respectively. It is understood that the geographic coverage of tile 1 includes the geographic coverage of tiles 1-00, the geographic coverage of tiles 1-01, the geographic coverage of tiles 1-10, and the geographic coverage of tiles 1-11, respectively.

In order to improve the index speed of each event in the map and the tile updating efficiency of the map, an embodiment of the present application provides a framework diagram for cross-tile management, referring to fig. 3, in fig. 3, tile event index information is added, where the tile event index information is used to indicate an association relationship between an event in the map and a tile in the map, and when any event in each tile changes, a tile associated with the event can be quickly located through the tile event index information.

The event base information corresponding to each tile is stored in each tile shown in fig. 3, for example, event base information 1 is stored in tile 1, and event base information 2 is stored in tile 2. Taking tile 1 as an example, in tile 1, event base information 1 includes description information of each event occurring in tile 1, where the description information of each event can be represented in a form shown in fig. 2A or fig. 2B described above.

The tile event index information may be expressed in a tree structure manner, or in a parameter matrix manner, and the two expression forms of the tile event index information are specifically described below:

the first method comprises the following steps: tree structure

Specifically, tile association information of each event in a tile is generated, and taking the tile 1 in the tile 1 as an example, the tile association information of the event 1 is used for indicating that the event 1 in the tile 1 is associated with a target tile in a map. The tile association information for event 1 is stored in a data structure that describes tile 1.

In the embodiment of the present application, the association of event 1 in tile 1 with the target tile in the map includes any one of the following: the change of the event 1 has an influence on the events in the target tile, or at least one event in the target tile is influenced by the event 1; the geographic coverage of tile 1 comprises the geographic coverage of the target tile; alternatively, the geographic coverage of the target tile includes the geographic coverage of tile 1.

It is noted that when the geographic coverage of tile 1 includes the geographic coverage of the target tile, tile 1 may be referred to as a parent tile of the target tile, and the target tile may be referred to as a child tile of tile 1.

In the embodiment of the present application, when a change of event 1 in tile 1 has an influence on an event in a target tile, the size of the geographic coverage area of tile 1 may also be equal to the size of the geographic coverage area of the target tile, which indicates that tile 1 and the target tile are tiles of the same level.

In an embodiment of the present application, the tile association information of event 1 further includes information indicating an identification of a target event within the target tile, wherein the target event is affected by a change of the first event.

In the embodiment of the present application, the influence of the target event by the change of the first event means that: when the first event changes, the first event may cause the target event to change, for example, the geographical range, attribute data, and the like of the target event change. In other words, the first event is associated with the target event, and specifically, the first event and the target event may be causally related, temporally related, spatially related, and the like, and the embodiment of the present application is not particularly limited. It should be noted that, before generating the tile association information of event 1, it is determined that the first event is associated with the target event according to the description information of the first event and the description information of the target event.

Referring to fig. 4, fig. 4 is a schematic diagram illustrating data representation of a single tile according to an embodiment of the present application. As shown in fig. 4, taking tile ID1 as an example, the data shown in fig. 4 specifically includes: the present tile ID, tile ID1; events which are influenced by the tile in a correlation manner, such as event A1, event A2 and the like, wherein the number of the events which are influenced by the tile in a correlation manner is less than or equal to the total number of the events in the tile; an identification of other tiles to which an event within the tile is associated, e.g., tile ID2, tile ID3, etc. In some possible embodiments, the data shown in fig. 4 may further include: the identity of the associated event within the other tile with which the event within this tile is associated, e.g., event B1, event B3, etc. Taking event A1 in tile ID1 as an example, as can be seen from fig. 4, event A1 is associated with tile ID2 and tile ID3, respectively, event A1 is associated with event B1 in tile ID2, and event A1 is associated with event B3 in tile ID 2.

It is to be understood that each tile may represent a mapping relationship between an event in the tile and other tiles based on the manner shown in fig. 4, thereby completing the generation of the tile event index information.

And the second method comprises the following steps: matrix structure

Specifically, in units of any two tiles, where events within the two tiles have an incidence relation or where there is geographic coverage of the two tiles including one another, tile association information for the two tiles is generated, where the tile association information for the two tiles is stored in a data structure that is jointly indexed by the identity of the two tiles.

For example, the two tiles may be tile 1 and tile 2, the tile association information of tile 1 and tile 2 indicating that the event in tile 1 is associated with tile 2, or indicating that the event in tile 2 is associated with tile 1.

In some possible embodiments, the tile association information for tile 1 and tile 2 further includes information indicating an identification of an event within tile 1, and an identification of an event within tile 2 associated with the event within tile 1. Alternatively, the tile association information for tile 1 and tile 2 further includes information indicating an identification of an event within tile 2, and an identification of an event within tile 1 associated with an event within tile 2.

Referring to fig. 5, fig. 5 is a schematic diagram of a parameter matrix provided by an embodiment of the present application, where a gray area in fig. 5 is the parameter matrix, numbers 1, 2.,. M are numbers of m tiles in the tile event index information, and a cell in the parameter matrix is not empty to indicate that two tiles corresponding to this cell are associated, and further, the cell may store an identifier of an associated event in the corresponding two tiles. E.g. T ₂₁ Indicating that an event within tile 2 is associated with tile 1, T ₁₂ Indicating that an event within tile 1 is associated with tile 2. Since the parameter matrix mainly represents the correlation between different tiles, T in the parameter matrix in fig. 5 ₁₁ 、T ₂₂ 、...、T _nn Set to null or 0.

Referring to fig. 6, fig. 6 is a non-empty cell T in fig. 5 according to an embodiment of the present application _ab In which, T _ab An event representing tile a is associated with tile b, T _ab The content of (2) specifically comprises: events associated with tile b within tile a, e.g., event a1, event a2, etc., wherein the number of events associated with tile b within tile a is less than or equal to the total number of events for tile a; identification of tile b; event within tile a associated with an associated event within tile b, e.g., event b1, event b2, etc. Let the event a1 in tile a beFor example, as can be seen from fig. 6, event a1 is associated with tile b, and event a1 is associated with event b1 within tile b, and event a1 is associated with event b2 within tile b.

In the embodiment of the present application, the form of the parameter matrix shown in fig. 5 is only one example. It can be understood that the parameter matrix shown in fig. 5 is a sparse matrix or a symmetric matrix, where the sparse matrix refers to the parameter matrix including multiple "0", in this case, the parameter matrix may be compressed to reduce the memory space occupied by the parameter matrix, so as to optimize the parameter matrix.

In the embodiment of the present application, since the geographic coverage of the tiles in the map has different levels, for example, the geographic coverage of the parent-level tile is greater than that of the child-level tile, and the geographic coverage of different events in the map may also be different, for example, the geographic coverage of a weather-type event is generally greater than that of a traffic accident event, the identifier of the tile where the event is located, that is, the identifier of the tile uniquely bound by the event, may be determined according to the size of the geographic coverage of the event.

For example, the geographical range of the snow storm cold event a is large, the tile ID of the snow storm cold event a may be a low-level tile ID, for example, tile 1, that is, the snow storm cold event a belongs to an event in tile 1, so that there is no need to further divide the snow storm cold event a and tile 1 into 4 tiles, that is, tiles 1-00, tiles 1-01, tiles 1-10 and tiles 1-11 are all bound, therefore, the expression structure of the event basic information can be effectively simplified, and the storage space is saved.

In summary, after the event basic information and the tile event index information are obtained based on the above operations, and after a change of an event is detected, the identifier of the tile associated with the event can be quickly located based on the tile event index information, and the identifier of the event affected by the event in the tile associated with the event can be quickly located, so that the linked update of the tile and the event can be realized.

Referring to fig. 7, fig. 7 is a flowchart of a map updating method provided by an embodiment of the present application, and when the map updating method is applied to a computing device or a terminal, the tiles and events in the map can be updated in a coordinated manner in response to a change of an event quickly based on the event basic information and the tile event index information. The method includes, but is not limited to, the steps of:

s101: detection information is acquired, and the detection information is used for indicating the current state of the first event.

In the embodiment of the present application, the event basic information and the tile event index information need to be obtained first, where the event basic information includes description information of multiple events in a map, and the description information of each event includes an event ID of the event and location data and attribute data of the event at least one historical time, where the location data includes one or more of a geographic range, a tile ID, and a map element ID of the event at the corresponding historical time. The tile event index information is used for indicating the association relationship between the event in the map and the tile in the map. It should be noted that, the event base information and the tile event index information may refer to the related descriptions of the event base information and the tile event index information in the above embodiments, and are not described herein.

In a specific implementation, the event base information and the tile event index information may also be generated based on the base data sent by the data source device in fig. 1. In another implementation, the event base information and the tile event index information may be obtained from other devices (e.g., a map server). In another implementation, the tile event index information may also be generated based on traffic history data and expert experience, in which case the tile event index information includes not only an identification of events that have occurred at the current time, but also an identification of events that are predicted to occur in the future based on the history data.

In an embodiment of the application, the detection information includes a geographical range and attribute data of the first event at the current time. The first event may be an event already stored in the event basic information, or may be a newly added event (i.e., an event that is not temporarily stored in the event basic information).

In this embodiment of the application, the detection information may be newly reported by the data source device at the current time, and the data source device may specifically refer to the related description of the data source device in fig. 1, which is not described herein again.

In another embodiment, the detection information may be the status of an event in the event base information at the current time. For example, the change of the event 1 triggers the prediction update of the state of the event 2 in the event basic information, so as to obtain the state of the event 2 at the current time, that is, the state of the event 2 at the current time is changed from the state at the historical time, and the state of the story piece 2 at the current time also belongs to the detection information in the embodiment of the present application.

S102: it is determined that the first event has changed based on the detection information.

In the embodiment of the present application, determining that the first event has changed based on the detection information includes any one of:

(1) Determining the first event as a new event based on the detection information;

(2) Determining that the first event disappears based on the detection information; alternatively, the first and second electrodes may be,

(3) And determining that the change degree of the first event is greater than a preset threshold value based on the detection information.

In the embodiment of the present application, the change of the first event means that at least one of the geographical range and the attribute data of the first event is changed. The degree of change of the first event is greater than a preset threshold value: the change value of the geographical range of the first event at the current time compared with the geographical range of the first event at the historical time (stored in the event basis information) is larger than a preset threshold value and/or the change value of the attribute data of the first event at the current time compared with the attribute data of the first event at the historical time (stored in the event basis information) is larger than a preset threshold value.

In the embodiment of the application, in the case that the credibility of the detection information is determined to be greater than the preset true value, it is determined that the first event changes based on the detection information. Wherein, the confidence of the detection information can be determined based on the description information of each event in the detection information and the event basic information. For example, the detection information indicates that the first event is a newly added traffic accident event a, and the road icing event B is found near the position of the traffic accident event a based on the event basic information, so that the credibility of the traffic accident event a can be increased.

S103: and determining a second event influenced by the first event according to the tile event index information.

In the embodiment of the application, when it is detected that the first event changes based on the detection information, the identifier of the first event and the identifier of the tile where the first event is located are obtained from description information of the first event in the detection information or the event base information, the tile associated with the first event and the event in the tile associated with the first event can be quickly indexed to the first event in the tile event index information according to the identifier of the first event and the identifier of the tile where the first event is located, and the second event affected by the first event is the event in the tile associated with the first event obtained from the tile event index information.

Taking the above fig. 4 as an example, assuming that the first event is the event A1, and determining that the degree of change of the event A1 is greater than the preset threshold based on the detection information, in this case, the content shown in fig. 4 can be quickly located in the tile event index information according to the event A1 and the tile ID1 where the event A1 is located, so as to determine that the second event affected by the first event includes the event B1 and the event B3.

In the embodiment of the present application, the first event affecting the second event means that, for example, the first event may be a cause of the second event; the first event aggravates or lessens the severity of the second event; the first event and the second event occur concomitantly; the first event and the second event are located at relatively close positions, and the like.

S104: and updating the description information of the second event in the event basic information according to the detection information.

In the embodiment of the present application, since the second event is affected by the first event, in the case that it is determined that the first event has changed, the description information of the second event in the event base information may be updated according to the detection information.

Specifically, updating the description information of the second event in the event base information according to the detection information means: obtaining the description information of the second event from the event basic information, predicting the current state of the second event according to the detection information and the description information of the second event to obtain the prediction information of the second event, wherein the prediction information of the second event comprises the geographic range and the attribute data of the second target event at the current moment, and finally adding the prediction information of the second event into the description information of the second event, so that the update of the description information of the second event is realized.

In some possible embodiments, if the first event does not satisfy the three cases in S102, for example, a slight change occurs in the value of a certain attribute of the first event, it indicates that the change amplitude of the first event is small, in which case, the description information of the second event in the event basic information does not need to be updated.

In some possible embodiments, if it is determined in S102 that the first event disappears, in addition to performing S104, the description information of the first event may be deleted from the event base information.

In some possible embodiments, if the first event is determined to be a new event in S102, in addition to performing S104, the detection information may be added to the event base information as description information of the first event.

In some possible embodiments, if it is determined in step 102 that the degree of change of the first event is greater than the preset threshold, in addition to performing step S104, the detection information may be added to the description information of the first event in the event base information to update the description information of the first event.

It should be noted that the update of the event may be delivered, for example, it is determined that the event a is associated with the event B based on the tile event index information, the change of the event a triggers the update of the event B, which is equivalent to the event B having changed, the description information after the update of the event B may also be used as the detection information in S101, and if the event B also satisfies the three conditions in S102, the update of the event associated with the event B is triggered.

By implementing the embodiment of the application, when a certain event is detected to be changed, the latest state of the associated event can be effectively predicted under the condition that the change information of the associated event of the event is not reported in time, so that the linkage update of the event in the map is realized, the burden of network transmission is effectively reduced, and the update efficiency of the event is improved.

The following describes the update process in a specific scenario:

referring to fig. 8, fig. 8 is a schematic view of a scenario provided by an embodiment of the present application, as shown in fig. 8, an event a (traffic accident) exists in a tile 1, an event B (traffic jam) exists in a tile 2, and tile event index information stores: the mapping relationship between tile 1 and tile 2 and the mapping relationship between event a in tile 1 and event B in tile 2. If the fact that the event A is related to the event B in the tile 2 is found based on the tile event index information when the fact that the variation degree of the event A in the tile 1 is larger than the preset threshold value is detected, updating of the description information of the event B in the tile 2 is triggered.

Referring to fig. 9, fig. 9 is a flowchart of another map updating method provided by the embodiment of the present application, which is applied to a computing device or a terminal. Fig. 9 may be independent of the embodiment of fig. 7, or may be a supplement to the embodiment of fig. 7. The method includes, but is not limited to, the steps of:

s201: detection information is acquired, and the detection information is used for indicating the current state of the first event. The step may specifically refer to the related description of S101 in the embodiment of fig. 7, and is not repeated herein.

S202: it is determined that the first event has changed based on the detection information. The step can refer to the related description of S102 in the embodiment of fig. 7, and is not repeated herein.

S203: and determining a target tile influenced by the first event according to the tile event index information.

In the embodiment of the application, after it is determined that the first event changes based on the detection information, the identifier of the first event and the identifier of the tile where the first event is located are obtained from the description information of the first event in the detection information or the event base information, the first event can be quickly located in the tile event index information according to the identifier of the first event and the identifier of the tile where the first event is located, and the identifier of the tile associated with the first event is obtained from the tile event index information, so that it is determined that the target tile affected by the first event is the tile associated with the first event in the tile event index information.

For example, in fig. 4, assuming that the first event is an event A1, when it is determined based on the detection information that the change occurring at the event A1 is any one of the following: event A1 disappears; the event A1 is a newly added event; or, the degree of change of the event A1 is greater than the preset threshold, in this case, the content shown in fig. 4 can be quickly located in the tile event index information according to the tile ID1 where the event A1 and the event A1 are located, so as to determine that the target tiles affected by the event A1 are the tile ID2 and the tile ID3.

In the present embodiment, the target tile is affected by the first event, in other words, the first event is associated with the target tile. The method specifically comprises the following steps: for example, a change in a first event has an effect on a dynamic event within a target tile; the geographic coverage of the tile in which the first event is located comprises the geographic coverage of the target tile; alternatively, the geographic coverage of the target tile includes the geographic coverage of the tile in which the first event is located.

S204: and updating the description information of the target tile in the map according to the detection information.

In the embodiment of the present application, since the target tile is affected by the first event, in the case that it is determined that the first event has changed, the description information of the target tile in the map may be updated according to the detection information.

Specifically, when it is determined that the first event changes, events associated with the first event may be decreased or increased in the target tile affected by the first event, and therefore, updating the description information of the target tile in the map according to the detection information is specifically: and re-determining the number of the events associated with the first event in the target tile and the identification of the events associated with the first event according to the detection information and the description information of each event in the target tile.

For example, assume event 1 in tile 1 is associated with tile 2, specifically, event 1 is associated with event 3, event 4, respectively, of tile 2. If the change degree of the event 1 is determined to be larger than the preset threshold value or the event 1 is determined to be a newly added event based on the detection information, the association between the event 1 and the event 3, the event 4 and the event 5 in the tile 2 is determined again according to the detection information and the description information of each event in all the events in the tile 2, therefore, the description information of the tile 2 in the map is updated, and the event 3, the event 4 and the event 5 in the updated description information of the tile 2 are respectively associated with the event 1 in the tile 1.

In this embodiment of the application, when determining that the first event disappears based on the detection information, and when a duration of the disappearance of the first event meets a preset duration, updating the description information of the target tile in the map means: and deleting the description information of the target tile in the map.

It can be seen that, by implementing the embodiment of the present application, when an event in a certain tile changes, tiles in a map associated with the changed event can be quickly indexed based on an association relationship between the event and the tiles, so that linked update of the tiles associated with the changed event in the map can be realized.

Referring to fig. 10, fig. 10 is a further map generating method provided in an embodiment of the present application, where the method described in fig. 10 may be independent of the method embodiment shown in fig. 7 or fig. 9, or may be a supplement to the method shown in fig. 7 or fig. 9. The method includes, but is not limited to, the steps of:

s301: first information is generated indicating that a first event in the first tile is associated with the second tile.

In an embodiment of the present application, first information is generated, where the first information is used to indicate that a first event in a first tile is associated with a second tile, where the first event is a dynamic event in a map, and the first tile and the second tile are two different tiles in the map.

In one implementation, associating the first event with the second tile means: the change in the first event has an effect on the dynamic event in the second tile; or, the geographic coverage of the second tile comprises the geographic coverage of the first tile; alternatively, the geographic coverage of the first tile includes the geographic coverage of the second tile.

In the embodiment of the present application, reference may be specifically made to the description of the tile in the above embodiment, and details are not described herein again.

In the embodiment of the present application, the first event may be an existing event in the map, that is, an event that has occurred and is still continuing, or may be a newly occurring event.

It should be noted that, in fig. 4, the first tile is tile ID1, and if the first event is event A1 and the second tile may be tile ID2, the first information may be information indicating that event A1 is associated with tile ID 2. In the embodiment of the present application, the first information may also be represented according to the form shown in fig. 6.

In a specific implementation, the first information includes information indicating an identity of the first event and information indicating an identity of the second tile. Taking the above fig. 4 as an example, if the first event is event A1, the second tile may be tile ID2 and tile ID3.

In a specific implementation, the first information further includes information indicating an identification of a second event in the second tile, the second event being affected by a change in the first event.

In the embodiment of the present application, the second event is a dynamic event in the map, and the influence of the first event on the second event may be caused by the occurrence of the second event being the first event, or the second event occurs concomitantly with the first event; alternatively, the second event may be located closer to the first event, and so on.

Taking the above fig. 4 as an example, if the first event is the event A1, the second event may be the event B1 or the event B2.

In one embodiment, the method further comprises: acquiring second information, wherein the second information is used for indicating the current state of the first event; determining that the first event has changed based on the second information; determining that first description information of a second event in the map needs to be updated according to the first information; and updating the first description information according to the second information.

In this embodiment, the second information may be newly reported by the data source device at the current time. The data source device may refer to the related description of the data source device in fig. 1, and will not be described herein again. The second information may also be description information of a current time after an event in the map is updated due to a change in the associated event.

In an embodiment of the present application, determining that the first event has changed includes determining that the first event has disappeared; determining that the first event is a new event; alternatively, it is determined that the degree of change of the first event is greater than a preset threshold.

In the above embodiment of fig. 7, the second information is the detection information in S101.

In one embodiment, the method further comprises: acquiring third information, wherein the third information is used for indicating the current state of the first event; determining that the first event has changed based on the third information; determining that second description information of the second tile in the map needs to be updated according to the first information; and updating the second description information according to the third information.

In the embodiment of fig. 9, the third information is the detection information in S201.

In one implementation, the method further comprises: updating the first information when: the first event disappears; a first event is changed; or the first event has changed to a greater extent than a threshold.

Wherein, the degree of the first event changing means: the geographical range of the first event at the current time is compared to the change value of the geographical range of the first event at the historical time and/or the attribute data of the first event at the current time is compared to the change value of the attribute data of the first event at the historical time.

In the embodiment of the present application, the first event or the second event may be any one of the following events: the method comprises the following steps of carrying out a snow storm cold event, a rainstorm event, a traffic accident event, a traffic jam event, a road maintenance event, a road construction event, a road icing event, a temporary speed limit event and a lane topology event.

S302: the first information is stored.

In the embodiment of the present application, the first information is stored, specifically: the first information is stored in a data structure in the map that describes the first tile. Note that the first information may be in the form shown in fig. 4.

In the embodiment of the present application, the first information is stored, specifically: the first information is stored in a data structure that is jointly indexed by an identification of the first tile and an identification of the second tile. Note that the first information may have the form shown in fig. 5 and 6.

In some possible embodiments, the first information may also be sent, so that a receiving end of the first information updates the tiles in the map according to the first information, which is not specifically limited in this embodiment of the application.

By implementing the embodiment of the application, the map information containing the incidence relation between the event and other tiles is generated, and the tiles in the map associated with the event can be quickly positioned based on the map information, so that the change of the event can be quickly responded, the updating efficiency of the event and the tiles in the map can be improved, and the burden of network transmission can be reduced.

The embodiment of the present application further provides a map, where the map includes map information, and the map information is used to indicate that a first event in a first tile is associated with a second tile, the first event is a dynamic event in the map, and the first tile and the second tile are two different tiles in the map.

In an embodiment of the present application, the first event is associated with the second tile as: the change in the first event has an effect on the dynamic event in the second tile; the geographic coverage of the second tile comprises the first tile geographic coverage; or the geographic coverage of the first tile includes the geographic coverage of the second tile.

In an embodiment of the application, the map information further comprises information indicating an identification of the first event and information indicating an identification of the second tile.

In an embodiment of the application, the map information further comprises information indicating an identification of a second event in the second tile, the second event being affected by a change of the first event.

Referring to fig. 11, fig. 11 is a schematic functional structure diagram of an apparatus provided in an embodiment of the present application, and the map generating apparatus 30 includes a generating unit 310 and a storage unit 312. The map generation apparatus 30 may be implemented by hardware, software, or a combination of hardware and software. Specifically, the method comprises the following steps:

a generating unit 310, configured to generate first information, where the first information is used to indicate that a first event in a first tile is associated with a second tile, the first event is a dynamic event in a map, and the first tile and the second tile are two different tiles in the map; a storage unit 312, configured to store the first information.

The functional modules of the map generation apparatus 30 can also be used to implement the method described in the embodiment of fig. 7. In the embodiment of fig. 10, the generating unit 310 may be configured to perform S301, and the storing unit 312 may be configured to perform S302. Each functional module of the map generating apparatus 30 can also be used to implement the method described in the embodiments of fig. 7 and fig. 9, and for brevity of the description, the details are not repeated here.

The present application further provides a computing device. As shown in fig. 12, the computing device 40 includes: a processor 401, a communication interface 402, a memory 403, and a bus 404. The processor 401, memory 403 and communication interface 402 communicate with each other via a bus 404. Computing device 40 may be a server or a computing device. It should be understood that the present application does not limit the number of processors, memories in the computing device 40.

The bus 404 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one line is shown in FIG. 12, but this does not represent only one bus or one type of bus. Bus 404 may include a path that transfers information between components of computing device 40 (e.g., memory 403, processor 401, communication interface 402).

Processor 401 may include any one or more of a Central Processing Unit (CPU), a Micro Processor (MP), or a Digital Signal Processor (DSP).

The memory 403 is used to provide a storage space in which data such as an operating system and computer programs can be stored. The memory 403 may be one or a combination of Random Access Memory (RAM), erasable Programmable Read Only Memory (EPROM), read-only memory (ROM), or portable read only memory (CD-ROM), and the like. The memory 403 may exist separately or may be integrated within the processor 401.

The communication interface 402 may be used to provide information input or output to the processor 401. Or alternatively, the communication interface 402 may be used to receive and/or transmit data externally, and may be a wired link interface such as an ethernet cable, and may also be a wireless link (e.g., wi-Fi, bluetooth, general wireless transmission, vehicle short-range communication technology, etc.) interface. Or alternatively, the communication interface 402 may also include a transmitter (e.g., a radio frequency transmitter, antenna, etc.) or a receiver, etc. coupled to the interface.

The processor 401 in the computing device 40 is configured to read a computer program stored in the memory 403 for executing the aforementioned map generation, map update method, such as the method described in fig. 7, fig. 9 or fig. 10.

In one possible design, the computing device 40 may be one or more modules in a computing device or a terminal that executes the method shown in fig. 7, 9, or 10, and the processor 401 may be configured to read one or more computer programs stored in the memory, and be configured to perform the following operations:

generating first information, wherein the first information is used for indicating that a first event in a first tile is associated with a second tile, the first event is a dynamic event in a map, and the first tile and the second tile are two different tiles in the map;

the first information is stored through the storage unit 312.

In the embodiments described above, the descriptions of the respective embodiments have respective emphasis, and reference may be made to related descriptions of other embodiments for parts that are not described in detail in a certain embodiment.

It should be noted that all or part of the steps in the methods of the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer-readable storage medium, wherein the storage medium includes a Read-Only Memory (ROM), a Random Access Memory (RAM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an One-time Programmable Read-Only Memory (OTPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an optical Disc-Read-Only Memory (CD-ROM), or any other medium capable of storing data, such as a magnetic disk, a magnetic tape, or any other computer-readable medium.

The technical solution of the present application may be substantially implemented as a part of or a whole part of the technical solution contributing to the prior art, or may be implemented in a form of a software product, where the computer program product is stored in a storage medium and includes several instructions to enable a device (which may be a personal computer, a server, or a network device, a robot, a single chip, a robot, etc.) to execute all or part of the steps of the method according to the embodiments of the present application.

Claims

1. A map generation method, characterized in that the method comprises:

generating first information, wherein the first information is used for indicating that a first event in a first tile is associated with a second tile, the first event is a dynamic event in the map, and the first tile and the second tile are two different tiles in the map;

storing the first information.

2. The method of claim 1, wherein the first event is associated with a second tile as:

the change in the first event has an effect on a dynamic event in the second tile;

the geographic coverage of the second tile comprises the geographic coverage of the first tile; or

The geographic coverage of the first tile includes the geographic coverage of the second tile.

3. The method according to claim 1 or 2, wherein the first information comprises information indicating an identification of the first event and information indicating an identification of the second tile.

4. The method of any of claims 1-3, further comprising information in the first information indicating an identification of a second event in the second tile, the second event being affected by a change in the first event.

5. The method of claim 4, further comprising:

acquiring second information, wherein the second information is used for indicating the current state of the first event;

determining that the first event has changed based on the second information;

determining that first description information of the second event in the map needs to be updated according to the first information;

and updating the first description information according to the second information.

6. The method according to any one of claims 1-5, further comprising:

acquiring third information, wherein the third information is used for indicating the current state of the first event;

determining that the first event has changed based on the third information;

determining that second description information of the second tile in the map needs to be updated according to the first information;

and updating the second description information according to the third information.

7. The method of any of claims 1-6, further comprising updating the first information when:

the first event disappears;

the first event is changed; or alternatively

The degree of change of the first event is greater than a preset threshold.

8. A map generation apparatus, characterized in that the apparatus comprises:

a generating unit, configured to generate first information, where the first information is used to indicate that a first event in a first tile is associated with a second tile, the first event is a dynamic event in the map, and the first tile and the second tile are two different tiles in the map;

and the storage unit is used for storing the first information.

9. The apparatus of claim 8, wherein the first event is associated with a second tile as:

10. The apparatus according to claim 8 or 9, wherein the first information comprises information indicating an identification of the first event and information indicating an identification of the second tile.

11. The apparatus according to any of claims 8-10, wherein the first information further comprises information indicating an identification of a second event in the second tile, the second event being affected by a change in the first event.

12. The apparatus of claim 11, further comprising:

an acquisition unit configured to acquire second information indicating a current state of the first event;

a judging unit configured to determine that the first event has changed based on the second information;

the judging unit is further configured to determine, according to the first information, that first description information of the second event in the map needs to be updated;

and the updating unit is used for updating the first description information according to the second information.

13. The apparatus of any one of claims 8-12, further comprising:

an acquisition unit configured to acquire third information indicating a current state of the first event;

a judging unit configured to determine that the first event has changed based on the third information;

the judging unit is further configured to determine, according to the first information, that second description information of the second tile in the map needs to be updated;

and the updating unit is used for updating the second description information according to the third information.

14. The apparatus according to any of claims 8-13, wherein the updating unit is further configured to update the first information when:

the first event disappears;

the first event is changed; or

The degree of change of the first event is greater than a preset threshold.

15. A map generation apparatus, the apparatus comprising a memory and a processor, the memory storing computer program instructions, the processor executing the computer program instructions to cause the apparatus to perform the method of any of claims 1-7.

16. A computer readable storage medium comprising computer instructions which, when executed by a processor, implement the method of any one of claims 1-7.

17. A map, comprising map information indicating that a first event in a first tile is associated with a second tile, the first event being a dynamic event in the map, the first tile and the second tile being two different tiles in the map.

18. A computer-readable storage medium having the map of claim 17 stored therein.